robossembler/runtime
7
0
Fork 0
Code Issues 4 Pull requests Projects Releases Packages Wiki Activity Actions

update deps and README

Browse source
This commit is contained in:
Ilya Uraev 2023-07-27 12:06:02 +03:00
parent 157e6b6176
commit 4b36238198
2 changed files with 13 additions and 15 deletions
Download patch file Download diff file Expand all files Collapse all files

22
README.md
View file

@ -27,37 +27,31 @@ git clone https://gitlab.com/robosphere/robossembler-ros2
vcs import . < robossembler-ros2/rbs.repos
cd ..
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
colcon build --merge-install --symlink-install # args are optional
colcon build --packages-skip cartesian_controller_simulation cartesian_controller_tests --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
```
For simulation with Mujoco, pls [ref](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/blob/fdaa9a2dd0ce15fc949b127dd1164095504273fb/cartesian_controller_simulation/README.md) build and install section.
### Set Gazebo enviroment variables
Replace `[WS_FOLDER]` with your workspace folder
```bash
echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/robossembler_ws/install/share/rbs_simulation:~/robossembler_ws/install/share" >> ~/.bashrc
echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/[WS_FOLDER]/install/robotiq_description/share/:~/[WS_FOLDER]/install/rbs_simulation/share/rbs_simulation/" >> ~/.bashrc
```
### Examples
Add source to environment
Activate current ROS2 enviroment:
```
. install/setup.bash
```
Launch MoveIt2, Gazebo, RViz
Launch MoveIt2, Gazebo, RViz:
```bash
ros2 launch rbs_simulation rbs_simulation.launch.py
```
#### Launch bt_tree (TBD)
It will execute `bt_tree` once from file `rbs_bt_executor/bt_trees/test_tree.xml`
```
ros2 launch rbs_bt_executor rbs_executor.launch.py
ros2 launch rbs_bringup bringup.launch.py
```
The robot arm should move to the point from config file in path
Load Problem file via ROS2 Service (TMP):
```
rbs_bt_executor/config/points.yaml
ros2 service call /problem_expert/add_problem plansys2_msgs/srv/AddProblem '{problem: (define (problem box_problem)(:domain atomic_domain)(:objects ur_manipulator_gripper - arm workspace1 - zone box1 box2 box3 - part asm0 asm1 asm2 asm3 - assembly)(:init (part_of box1 asm1)(part_of box2 asm2)(part_of box3 asm3)(assembly_order asm0 asm1)(assembly_order asm1 asm2)(assembly_order asm2 asm3)(arm_available ur_manipulator_gripper)(assembly_at asm0 workspace1)(assembled asm0))(:goal (and (assembled asm3))))}'
```
### Links

6
rbs.repos
View file

@ -18,4 +18,8 @@ repositories:
ros2_robotiq_gripper:
type: git
url: https://github.com/solid-sinusoid/ros2_robotiq_gripper.git
version: main
version: main
cartesian_controllers:
type: gut
url: https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git
version: ros2